
Header header

bool lost
int32 matches
int32 inliers
float32 icpInliersRatio
float32 icpRotation
float32 icpTranslation
float32 icpStructuralComplexity
float32 icpStructuralDistribution
int32 icpCorrespondences
float64[36] covariance
int32 features
int32 localMapSize
int32 localScanMapSize
int32 localKeyFrames
int32 localBundleOutliers
int32 localBundleConstraints
float32 localBundleTime
float32 localBundleAvgInlierDistance
int32 localBundleMaxKeyFramesForInlier
bool keyFrameAdded
float32 timeEstimation
float32 timeParticleFiltering
float32 stamp
float32 interval
float32 distanceTravelled
int32 memoryUsage # MB
float32 gravityRollError
float32 gravityPitchError

# Local bundle camera ids
int32[] localBundleIds

# Local bundle camera models
CameraModels[] localBundleModels

# Local bundle camera poses
geometry_msgs/Pose[] localBundlePoses

geometry_msgs/Transform transform
geometry_msgs/Transform transformFiltered
geometry_msgs/Transform transformGroundTruth
geometry_msgs/Transform guess

# 0=F2M, 1=F2F
int32 type

# F2M odometry
#   std::multimap<int, cv::KeyPoint> words;
#   std::vector<int> wordMatches;
#   std::vector<int> wordInliers;
int32[] wordsKeys
KeyPoint[] wordsValues
int32[] wordMatches
int32[] wordInliers
int32[] localMapKeys
Point3f[] localMapValues

# local scan map data
sensor_msgs/PointCloud2 localScanMap

# F2F odometry
#   std::vector<cv::Point2f> refCorners;
#   std::vector<cv::Point2f> newCorners;
#   std::vector<int> cornerInliers;
Point2f[] refCorners
Point2f[] newCorners
int32[] cornerInliers

